Marco Cognetti

Identifiants chercheurs

IdHAL :

mcognetti

ORCID :

0000-0003-4996-5914

Présentation

I am currently a CPJ (Chaire de Professeur Junior) at LAAS-CNRS and University of Toulouse III - Paul Sabatier.

From September 2020 to December 2022, I was a Lecturer/Assistant Professor at Maynooth University, Ireland.

From January 2020 to August 2020, I was a Postdoctoral researcher at the UBIMCOMP department of the University of Oulu, working with Prof. Steven LaValle in filtering and planning for telepresence.

From February 2017 to November 2019, I was a Postdoctoral researcher at the Centre National de la Recherche Scientifique (CNRS) at Irisa and Inria Rennes, working on the active perception problem under the supervision of Dr. Paolo Robuffo Giordano.

From May 2016 to February 2017, I was a Postdoctoral researcher at the Robotics Lab of Dipartimento di Ingegneria Informatica, Automatica e Gestionale (DIAG), Sapienza – University of Rome, where I worked on safety for humanoid robots under the supervision of Prof. Giuseppe Oriolo.

The main topics of my research are (active) state estimation and shared control/autonomy for mobile robotics.Moreover, I’m interested in the whole-body motion planning and control for humanoid robots. In fact, I faced the problem of task-constrained motion planning for humanoids, i.e. planning the motion of a humanoid robot that must execute a manipulation task, possibly requiring stepping, in environments cluttered by obstacles.

Finally, I also worked in the localization and control of a team of heterogeneous robot. In this research, a team is composed by an aerial vehicle (UAV) and several ground robots (UGVs). The idea is to fuse the supervising role of the UAV and the on-site point of view of the UGVs to accomplish several tasks.

From March 2011 to October 2011 I visited the Max Planck Institute for Biological Cybernetics in Tuebingen under the supervision of Dr. Antonio Franchi.

From January 2015 to July 2015 I visited the Personal Robotics Lab at « The Robotics Institute – Carnegie Mellon University » under the supervision of Prof. Siddhartha Srinivasa.

From October 2012 to May 2016 I was a Ph.D. student at the Robotics Lab of Dipartimento di Ingegneria Informatica, Automatica e Gestionale (DIAG), Sapienza – University of Rome .

Publications

Article dans une revue (13)

Sensitivity-Aware Model Predictive Control for Robots with Parametric Uncertainty Tommaso Belvedere,Marco Cognetti,Giuseppe Oriolo,Paolo Robuffo Giordano IEEE Transactions on Robotics, 2025, 41, pp.3039-3058. ⟨10.1109/TRO.2025.3554415⟩ Article dans une revue hal-05021224v1
Robust Sensitivity-Aware Chance-Constrained MPC for Efficient Handling of Multiple Uncertainty Sources James Zhu,Thierry Simeon,Marco Cognetti IEEE Robotics and Automation Letters, 2025, 10 (10), pp.10330 - 10337. ⟨10.1109/LRA.2025.3597863⟩ Article dans une revue hal-05208652v1
Experimental Validation of Sensitivity-Aware Trajectory Planning for a Redundant Robotic Manipulator Under Payload Uncertainty Ali Srour,Antonio Franchi,Paolo Robuffo Giordano,Marco Cognetti IEEE Robotics and Automation Letters, 2025, 10 (2), pp.1561-1568. ⟨10.1109/LRA.2024.3519857⟩ Article dans une revue hal-04816507v1
A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks Antonio Gonzalez-Morgado,Jonas Soueidan,Guillermo Heredia,Anibal Ollero,Philippe Fraisseet al. IEEE Robotics and Automation Letters, 2025, 10 (10), pp.9670 - 9677. ⟨10.1109/LRA.2025.3597854⟩ Article dans une revue hal-05208698v1
Active Sensing for Data Quality Improvement in Model Learning Olga Napolitano,Marco Cognetti,Lucia Pallottino,Dimitrios Kanoulas,Paolo Salariset al. IEEE Control Systems Letters, 2024, pp.1-1. ⟨10.1109/LCSYS.2024.3410152⟩ Article dans une revue hal-04226725v2
Robust Motion Planning with Accuracy Optimization based on Learned Sensitivity Metrics Simon Wasiela,Marco Cognetti,Paolo Robuffo Giordano,Juan Cortés,Thierry Simeon IEEE Robotics and Automation Letters, 2024, 9 (11), pp.10113-10120. ⟨10.1109/LRA.2024.3468149⟩ Article dans une revue hal-04636547v1
Autonomy in Physical Human-Robot Interaction: a Brief Survey Mario Selvaggio,Marco Cognetti,Stefanos Nikolaidis,Serena Ivaldi,Bruno Siciliano IEEE Robotics and Automation Letters, 2021, ⟨10.1109/LRA.2021.3100603⟩ Article dans une revue hal-03413654v1
Perception-Aware Human-Assisted Navigation of Mobile Robots on Persistent Trajectories Marco Cognetti,Marco Aggravi,Claudio Pacchierotti,Paolo Salaris,Paolo Robuffo Giordano IEEE Robotics and Automation Letters, 2020, 5 (3), pp.4711-4718. ⟨10.1109/LRA.2020.3003882⟩ Article dans une revue hal-02951947v1
Online Optimal Perception-Aware Trajectory Generation Paolo Salaris,Marco Cognetti,Riccardo Spica,Paolo Robuffo Giordano IEEE Transactions on Robotics, 2019, pp.1-16. ⟨10.1109/TRO.2019.2931137⟩ Article dans une revue hal-02278900v1
Dynamic Identification of the Franka Emika Panda Robot With Retrieval of Feasible Parameters Using Penalty-Based Optimization Claudio Gaz,Marco Cognetti,Alexander Oliva,Paolo Robuffo Giordano,Alessandro de Luca IEEE Robotics and Automation Letters, 2019, 4 (4), pp.4147-4154. ⟨10.1109/LRA.2019.2931248⟩ Article dans une revue hal-02265293v1
Ground and Aerial Mutual Localization Using Anonymous Relative-Bearing Measurements Paolo Stegagno,Marco Cognetti,Giuseppe Oriolo,Heinrich H Bülthoff,Antonio Franchi IEEE Transactions on Robotics, 2016, 32 (5), pp.1133 - 1151. ⟨10.1109/TRO.2016.2593454⟩ Article dans une revue hal-01393702v1
Multi-task Cooperative Control in a Heterogeneous Ground-Air Robot Team Lorenzo Rosa,Marco Cognetti,Andrea Nicastro,Pol Alvarez,Giuseppe Oriolo IFAC-PapersOnLine, 2015, 48 (5), pp.53-58. ⟨10.1016/j.ifacol.2015.06.463⟩ Article dans une revue hal-04286991v1
Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems Marco Cognetti,Paolo Stegagno,Antonio Franchi,Giuseppe Oriolo IFAC Proceedings Volumes, 2012, 45 (28), pp.13-18. ⟨10.3182/20121003-3-SF-4024.00006⟩ Article dans une revue hal-04287193v1

Communication dans un congrès (23)

Contact-Robust Trajectory Planning via Parametric Sensitivity Analysis for Hybrid Robotic Systems Tommaso Belvedere,James Zhu,Marco Cognetti,Paolo Robuffo Giordano ICRA 2026 - IEEE International Conference on Robotics and Automation, Jun 2026, Vienne, Austria Communication dans un congrès hal-05488973v2
Robust RL Navigation Via Sensitivity-Aware Observation Augmentation James Zhu,Thierry Simeon,Marco Cognetti IEEE IROS 2025 Workshop TARo, Oct 2025, Hangzhou, China Communication dans un congrès hal-05368565v1
A Linear Complementarity based MPC for Aerial Physical Interaction Riccardo Fuser,Hai-Nguyen Nguyen,Gian Paolo Incremona,Marcello Farina,Marco Cognetti 2025 International Conference on Unmanned Aircraft Systems (ICUAS 2025), IEEE, May 2025, Charlotte (USA), United States. ⟨10.1109/ICUAS65942.2025.11007833⟩ Communication dans un congrès hal-05034581v1
Considerations for Handover and Co-working with Drones Jessica Cauchard,Charles Dutau,Gianluca Corsini,Marco Cognetti,Daniel Sidobreet al. ACM/IEEE International Conference on Human-Robot Interaction (HRI '24), Mar 2024, Boulder (CO), United States. pp.302-306, ⟨10.1145/3610978.3640590⟩ Communication dans un congrès hal-04507806v1
Learned Uncertainty Tubes via Recurrent Neural Networks for Planning Robust Robot Motions Simon Wasiela,Smail Ait Bouhsain,Marco Cognetti,Juan Cortés,Thierry Simeon 27th European Conference on Artificial Intelligence (ECAI), Oct 2024, Santiago de Compostela, Spain Communication dans un congrès hal-04636454v1
Transformer-Based Prediction of Human Motions and Contact Forces for Physical Human-Robot Interaction Alessia Fusco,Valerio Modugno,Dimitrios Kanoulas,Alessandro Rizzo,Marco Cognetti 2024 IEEE International Conference on Robotics and Automation (ICRA), May 2024, Yokohama, France. pp.3161-3167, ⟨10.1109/ICRA57147.2024.10611211⟩ Communication dans un congrès hal-04215765v3
Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty Ali Srour,Salvatore Marcellini,Tommaso Belvedere,Marco Cognetti,Antonio Franchiet al. ICUAS 2024 - International Conference on Unmanned Aircraft Systems, Jun 2024, Chania Crete, Greece. pp.572-578, ⟨10.1109/ICUAS60882.2024.10556958⟩ Communication dans un congrès hal-04553932v1
Shared Control Active Perception for Human-Assisted Navigation Marco Cognetti,Marco Aggravi,Claudio Pacchierotti,Paolo Salaris,Paolo Robuffo Giordano I-RIM 2020 - 2nd Italian Conference on Robotics and Intelligent Machines, Dec 2020, Online, Italy. pp.1-2 Communication dans un congrès hal-03103583v1
Sensor-based Whole-Body Planning/Replanning for Humanoid Robots Paolo Ferrari,Marco Cognetti,Giuseppe Oriolo 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Oct 2019, Toronto, Canada. pp.511-517, ⟨10.1109/Humanoids43949.2019.9035017⟩ Communication dans un congrès hal-04286831v1
Optimal Active Sensing with Process and Measurement Noise Marco Cognetti,Paolo Salaris,Paolo Robuffo Giordano ICRA 2018 - IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.2118-2125, ⟨10.1109/ICRA.2018.8460476⟩ Communication dans un congrès hal-01717180v1
Anytime Whole-Body Planning/Replanning for Humanoid Robots Paolo Ferrari,Marco Cognetti,Giuseppe Oriolo 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Nov 2018, Beijing, China. pp.1-9 Communication dans un congrès hal-02265289v1
Humanoid whole-body planning for loco-manipulation tasks Paolo Ferrari,Marco Cognetti,Giuseppe Oriolo 2017 IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapore, Singapore. pp.4741-4746, ⟨10.1109/ICRA.2017.7989550⟩ Communication dans un congrès hal-04286874v1
Real-time pursuit-evasion with humanoid robots Marco Cognetti,Daniele de Simone,Federico Patota,Nicola Scianca,Leonardo Lanariet al. 2017 IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapore, Singapore. pp.4090-4095, ⟨10.1109/ICRA.2017.7989470⟩ Communication dans un congrès hal-04286855v1
Real-time planning and execution of evasive motions for a humanoid robot Marco Cognetti,Daniele de Simone,Leonardo Lanari,Giuseppe Oriolo 2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.4200-4206, ⟨10.1109/ICRA.2016.7487614⟩ Communication dans un congrès hal-04286936v1
Whole-body planning for humanoids along deformable tasks Marco Cognetti,Valentino Fioretti,Giuseppe Oriolo 2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.1615-1620, ⟨10.1109/ICRA.2016.7487301⟩ Communication dans un congrès hal-04286930v1
Rearrangement planning using object-centric and robot-centric action spaces Jennifer E King,Marco Cognetti,Siddhartha S Srinivasa 2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.3940-3947, ⟨10.1109/ICRA.2016.7487583⟩ Communication dans un congrès hal-04286919v1
Intrinsically stable MPC for humanoid gait generation Nicola Scianca,Marco Cognetti,Daniele de Simone,Leonardo Lanari,Giuseppe Oriolo 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.601-606, ⟨10.1109/HUMANOIDS.2016.7803336⟩ Communication dans un congrès hal-04286902v1
Whole-body motion planning for humanoids based on CoM movement primitives Marco Cognetti,Pouya Mohammadi,Giuseppe Oriolo 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Nov 2015, Seoul, South Korea. pp.1090-1095, ⟨10.1109/HUMANOIDS.2015.7363504⟩ Communication dans un congrès hal-04286983v1
Task-oriented whole-body planning for humanoids based on hybrid motion generation Marco Cognetti,Pouya Mohammadi,Giuseppe Oriolo,Marilena Vendittelli 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Sep 2014, Chicago, United States. pp.4071-4076, ⟨10.1109/IROS.2014.6943135⟩ Communication dans un congrès hal-04287146v1
Cooperative control of a heterogeneous multi-robot system based on relative localization Marco Cognetti,Giuseppe Oriolo,Pietro Peliti,Lorenzo Rosa,Paolo Stegagno 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Sep 2014, Chicago, United States. pp.350-356, ⟨10.1109/IROS.2014.6942583⟩ Communication dans un congrès hal-04287143v1
Relative localization and identification in a heterogeneous multi-robot system Paolo Stegagno,Marco Cognetti,Lorenzo Rosa,Pietro Peliti,Giuseppe Oriolo 2013 IEEE International Conference on Robotics and Automation (ICRA), May 2013, Karlsruhe, Germany. pp.1857-1864, ⟨10.1109/ICRA.2013.6630822⟩ Communication dans un congrès hal-04287148v1
3-D Mutual Localization with Anonymous Bearing Measurements Marco Cognetti,Paolo Stegagno,Antonio Franchi,Giuseppe Oriolo,Heinrich Bulthoff 2012 IEEE International Conference on Robotics and Automation (ICRA), May 2012, St Paul, United States. pp.791-798, ⟨10.1109/ICRA.2012.6225288⟩ Communication dans un congrès hal-04287169v1
Mutual Localization using Anonymous Bearing Measurements P. Stegagno,M. Cognetti,A. Franchi,G. Oriolo 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), Sep 2011, San Francisco, United States. pp.469-474, ⟨10.1109/IROS.2011.6094635⟩ Communication dans un congrès hal-04287197v1

Chapitre d'ouvrage (1)

Locomotion and Telepresence in Virtual and Real Worlds Alessandro Spada,Marco Cognetti,Alessandro de Luca Springer Proceedings in Advanced Robotics. Locomotion and Telepresence in Virtual and Real Worlds, pp.85-98, 2019, ⟨10.1007/978-3-319-89327-3_7⟩ Chapitre d'ouvrage hal-02265284v1

Autre publication scientifique (1)

Dynamic Identification of the Franka Emika Panda Robot with Retrieval of Feasible Parameters Using Penalty-Based Optimization Claudio Gaz,Marco Cognetti,Alexander Oliva,Paolo Robuffo Giordano,Alessandro de Luca 2019, pp.1-9 Autre publication scientifique hal-02265294v1

Pré-publication, Document de travail (2)

Note on learning sensitivity metrics for a quadrotor Simon Wasiela,Smail Ait Bouhsain,Marco Cognetti,Juan Cortés,Thierry Simeon 2024 Pré-publication, Document de travail hal-04642304v1
Learned Sensitivity Metrics for Robust and Accurate Motion Planning Simon Wasiela,Marco Cognetti,Paolo Robuffo Giordano,Juan Cortés,Thierry Simeon 2023 Pré-publication, Document de travail hal-04027078v1

Vidéo (1)

Robust Motion Planning and Accuracy Optimization based on Learned Sensitivity Metric (Video) Simon Wasiela,Marco Cognetti,Paolo Robuffo Giordano,Juan Cortés,Thierry Simeon 2024 Vidéo hal-04642257v1